/*****************************************************************************
 *  Copyright (c) 2009, OpenJAUS.com
 *  All rights reserved.
 *
 *  This file is part of OpenJAUS.  OpenJAUS is distributed under the BSD
 *  license.  See the LICENSE file for details.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above
 *       copyright notice, this list of conditions and the following
 *       disclaimer in the documentation and/or other materials provided
 *       with the distribution.
 *     * Neither the name of the University of Florida nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *   "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *   LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
 *   A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
 *   OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 *   DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
 *   THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 *   (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
 *   OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 ****************************************************************************/
// File Name: reportManipulatorSpecificationsMessage.h
//
// Written By: Danny Kent (jaus AT dannykent DOT com), Tom Galluzzo
//
// Version: 3.3.0b
//
// Date: 09/08/09
//
// Description: This file defines the attributes of a ReportManipulatorSpecificationsMessage

#ifndef REPORT_MANIPULATOR_SPECIFICATIONS_MESSAGE_H
#define REPORT_MANIPULATOR_SPECIFICATIONS_MESSAGE_H

#include "jaus.h"

#ifndef JAUS_MANIPULATOR_JOINT_TYPES
#define JAUS_MANIPULATOR_JOINT_TYPES
#define JAUS_REVOLUTE_MANIPULATOR_JOINT		1
#define JAUS_PRISMATIC_MANIPULATOR_JOINT	2
#endif

typedef struct
{
	// Include all parameters from a JausMessage structure:
	// Header Properties
	struct
	{
		// Properties by bit fields
		#ifdef JAUS_BIG_ENDIAN
			JausUnsignedShort reserved:2;
			JausUnsignedShort version:6;
			JausUnsignedShort expFlag:1;
			JausUnsignedShort scFlag:1;
			JausUnsignedShort ackNak:2;
			JausUnsignedShort priority:4;
		#elif JAUS_LITTLE_ENDIAN
			JausUnsignedShort priority:4;
			JausUnsignedShort ackNak:2;
			JausUnsignedShort scFlag:1;
			JausUnsignedShort expFlag:1;
			JausUnsignedShort version:6;
			JausUnsignedShort reserved:2;
		#else
			#error "Please define system endianess (see jaus.h)"
		#endif
	}properties;

	JausUnsignedShort commandCode;

	JausAddress destination;

	JausAddress source;

	JausUnsignedInteger dataSize;

	JausUnsignedInteger dataFlag;

	JausUnsignedShort sequenceNumber;

	// MESSAGE DATA MEMBERS GO HERE

	JausByte numJoints;
	JausByte *jointType;
	JausDouble *jointOffset;
	JausDouble *linkLength;
	JausDouble *twistAngle;
	JausDouble *jointMinValue;
	JausDouble *jointMaxValue;
	JausDouble *jointMaxVelocity;
	JausDouble coordinateSysX;
	JausDouble coordinateSysY;
	JausDouble coordinateSysZ;
	JausDouble coordinateSysA;
	JausDouble coordinateSysB;
	JausDouble coordinateSysC;
	JausDouble coordinateSysD;

}ReportManipulatorSpecificationsMessageStruct;

typedef ReportManipulatorSpecificationsMessageStruct* ReportManipulatorSpecificationsMessage;

JAUS_EXPORT ReportManipulatorSpecificationsMessage reportManipulatorSpecificationsMessageCreate(void);
JAUS_EXPORT void reportManipulatorSpecificationsMessageDestroy(ReportManipulatorSpecificationsMessage);

JAUS_EXPORT JausBoolean reportManipulatorSpecificationsMessageFromBuffer(ReportManipulatorSpecificationsMessage message, unsigned char* buffer, unsigned int bufferSizeBytes);
JAUS_EXPORT JausBoolean reportManipulatorSpecificationsMessageToBuffer(ReportManipulatorSpecificationsMessage message, unsigned char *buffer, unsigned int bufferSizeBytes);

JAUS_EXPORT ReportManipulatorSpecificationsMessage reportManipulatorSpecificationsMessageFromJausMessage(JausMessage jausMessage);
JAUS_EXPORT JausMessage reportManipulatorSpecificationsMessageToJausMessage(ReportManipulatorSpecificationsMessage message);

JAUS_EXPORT unsigned int reportManipulatorSpecificationsMessageSize(ReportManipulatorSpecificationsMessage message);

JAUS_EXPORT char* reportManipulatorSpecificationsMessageToString(ReportManipulatorSpecificationsMessage message);
#endif // REPORT_MANIPULATOR_SPECIFICATIONS_MESSAGE_H
